Intelligent pesticide spraying robot and pesticide spraying method

Abstract

The invention discloses an intelligent pesticide spraying robot and a pesticide spraying method. The robot comprises a chassis walking system, a liftable mechanical arm mechanism, a pesticide liquid preparation and storage mechanism, a pesticide liquid conveying control assembly, a spraying mechanism, a pest and disease damage diagnosis and analysis module and a main control module in communication connection with all the parts. And the main control module is used for controlling the chassis walking system, the liftable mechanical arm mechanism, the liquid medicine blending and storing mechanism and the liquid medicine conveying control assembly to act according to the data of the pest and disease damage diagnosis and analysis module, so that the spraying mechanism sprays the liquid medicine of the corresponding type, the corresponding spraying concentration and the corresponding spraying amount aiming at the pest and disease damage targeted position. The robot can adapt to different working road conditions, it can be guaranteed that pesticide liquid is sprayed to peach trees of different heights, different pesticide liquid can be sprayed according to different pest and disease damage conditions of the peach trees, meanwhile, targeted pesticide spraying can be achieved, it is guaranteed that the sprayed pesticide liquid is accurate and efficient, the pesticide dosage is effectively reduced, and the pesticide spraying effect is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pesticide spraying robots, and particularly relates to an intelligent pesticide spraying robot and a pesticide spraying method. BACKGROUND

[0002] As a new industry, fruit tree planting has a large market demand. During the growth process of peach trees, the peach trees can be attacked by various diseases and pests. Spraying pesticide is one of the most important links in the growth process of crops. At present, the traditional knapsack spraying machine is still used for spraying pesticide for peach trees in hilly and mountainous areas in China. Workers move between crop rows using a handheld sprayer, and different pesticide and different amount of pesticide are sprayed according to the type and degree of different diseases and pests of peach trees. This not only makes the spraying operation labor-intensive and uneven, but also seriously affects the prevention and control effect of pesticide, and the utilization rate of pesticide is low, which causes waste of agricultural resources. In addition, manual pesticide spraying is harmful to the health of workers. SUMMARY

[0003] The purpose of the present application is to provide an intelligent pesticide spraying robot and a pesticide spraying method to solve the problems of the prior art. The intelligent pesticide spraying robot can spray different pesticide and different amount of pesticide according to the disease and pest situation of peach trees in most hilly and mountainous areas, and ensure accurate and uniform spraying of the disease and pest area of peach trees.

[0004] The purpose of the present application is achieved by the following technical scheme: The present application provides an intelligent pesticide spraying robot, comprising a chassis walking system, a liftable mechanical arm mechanism, a pesticide liquid preparation and storage mechanism, a pesticide liquid delivery control assembly, a spraying mechanism, a disease and pest diagnosis and analysis module, and a main control module in communication with each part. The chassis walking system comprises a vehicle body and a wheel-track composite walking mechanism on the vehicle body. The liftable mechanical arm mechanism comprises a vertical moving platform on the vehicle body and a multi-degree-of-freedom mechanical arm on the vertical moving platform. The spraying mechanism is located at the end of the multi-degree-of-freedom mechanical arm. The vertical moving platform can drive the multi-degree-of-freedom mechanical arm and the spraying mechanism to move up and down reciprocally, and the multi-degree-of-freedom mechanical arm can drive the spraying mechanism to move in three-dimensional space. The pesticide liquid preparation and storage mechanism is used for preparing and storing at least one pesticide liquid. The pesticide liquid delivery control assembly is used for delivering the pesticide liquid stored in the pesticide liquid preparation and storage mechanism to the spraying mechanism, and controlling the type and amount of pesticide liquid output. The disease and pest diagnosis and analysis module is used for identifying the type, degree and position of plant diseases and pests, and analyzing and determining the required type of pesticide liquid, pesticide concentration and pesticide amount. The master module is configured to control the chassis walking system, the liftable mechanical arm mechanism, the pesticide liquid dispensing and storing mechanism, and the pesticide liquid delivery control assembly to act according to the data of the pest diagnosis and analysis module, so that the spraying mechanism sprays pesticide liquid of corresponding type, corresponding spraying concentration, and spraying amount at a target position of pests.

[0005] Preferably, the wheel-track composite walking mechanism comprises a wheel walking mechanism and a track walking mechanism, the wheel walking mechanism is configured to walk on ordinary road conditions, and the track walking mechanism is configured to walk on special bad road conditions.

[0006] Preferably, the vertical moving platform comprises a vertical guide rail, a sliding block movable along the vertical guide rail, and a first motor configured to drive the sliding block to move up and down reciprocally.

[0007] Preferably, an upper end of the vertical guide rail is provided with a limiting stopper and a buffer pad.

[0008] Preferably, the multi-degree-of-freedom mechanical arm comprises a left-right rotating mechanism and an up-down rotating mechanism. The left-right rotating mechanism comprises a second motor and a connecting frame, the second motor is located on the sliding block, the connecting frame is connected with an output end of the second motor, and the second motor is configured to drive the connecting frame to rotate leftward and rightward. The up-down rotating mechanism comprises a plurality of joints connected in sequence end to end, each joint comprises a third motor and a joint arm connected with an output end of the third motor, the third motor located at a head joint is located on the connecting frame, the third motor located at a rear joint is located at an end of the joint arm of a front joint, and the spraying mechanism and the pest diagnosis and analysis module are located at an end of the joint arm of a tail joint; and the third motor is configured to drive the corresponding joint arm to rotate up and down.

[0009] Preferably, the pesticide liquid dispensing and storing mechanism is located on the vehicle body and comprises a pesticide liquid storage tank and a water delivery pipeline. The pesticide liquid storage tank comprises a plurality of original pesticide storage cavities and a plurality of dispensing cavities. Each original pesticide storage cavity is configured to store original pesticide of different type, each original pesticide storage cavity is connected with a plurality of dispensing cavities respectively, and a water inlet end of the water delivery pipeline is configured to be connected with a water source and the other end is communicated with each dispensing cavity. The original pesticide storage cavity and the water delivery pipeline are respectively configured to deliver predetermined amount of original pesticide and water into the dispensing cavity, so as to prepare pesticide liquid of predetermined concentration.

[0010] Preferably, the water delivery pipeline is provided with a first on-off valve and a flow sensor, and each dispensing cavity is provided with a stirring device and a liquid level sensor.

[0011] Preferably, the medicine liquid delivery control assembly comprises a plurality of delivery units corresponding to the number of the preparation cavities, and the spraying mechanism comprises a plurality of nozzles corresponding to the number of the preparation cavities. Each of the delivery units comprises a medicine delivery pipeline, two ends of the medicine delivery pipeline are communicated with the corresponding preparation cavity and the nozzle respectively, and the medicine delivery pipeline is provided with a medicine pump, a second on-off valve, a proportional valve and a pressure sensor.

[0012] The pest diagnosis and analysis module comprises a depth camera located at the end of the multi-degree-of-freedom mechanical arm.

[0013] Another aspect of the present application provides a control method of the intelligent medicine spraying robot, comprising the following steps: S1. The main control module controls the chassis walking system to drive the whole robot to move to a target position. S2. The pest diagnosis and analysis module identifies the type, degree and position of plant pests, analyzes and determines the required medicine liquid type, medicine spraying concentration and medicine spraying amount, and transmits the data to the main control module. S3. The main control module sends corresponding instructions to the liftable mechanical arm mechanism, the medicine liquid preparation and storage mechanism and the medicine liquid delivery control assembly, so that the liftable mechanical arm mechanism drives the spraying mechanism to move until the spraying mechanism is aligned with the target position of plant pests, the medicine liquid preparation and storage mechanism prepares the medicine liquid of the corresponding type and concentration, and the medicine liquid delivery control assembly delivers the corresponding amount of medicine liquid to the spraying mechanism, so as to realize target medicine spraying.

[0014] The robot provided by the present application can adapt to different working conditions, can ensure spraying medicine liquid on peach trees of different heights, can spray different medicine liquid according to different plant diseases and insect pests of peach trees, can target spray medicine liquid, can ensure accurate and efficient spraying of medicine liquid, can effectively reduce the amount of pesticide, and can improve the medicine spraying effect. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of the medicine spraying robot provided by the present application; Figure 2 is a local enlarged view of the mechanical arm of the present application; Figure 3 is a module block diagram of the medicine spraying method of the present application; Figure 4 is a principle diagram of the medicine spraying method of the present application; Figure 5 is a principle diagram of the medicine liquid preparation and storage mechanism of the present application.

[0016] EXPLANATION OF REFERENCE NUMERALS: 11-Vehicle body; 12-Wheel; 13-Crawler-type walking mechanism; 21-Vertical guide rail; 22-Slider; 23-Third motor; 24-Articulated arm; 25-Second motor; 26-Connecting frame; 3-Main control module; 4-Drug preparation and storage mechanism; 41-Water pump; 42-First switching valve; 43-Flow sensor; 44-Level sensor; 45-Stirring device; 46-Drain outlet; 47-Preparation chamber; 48-Original drug storage chamber; 5-Drug delivery control component; 51-Drug pump; 52-Second switching valve; 53-Proportional valve; 54-Pressure sensor; 6-Pest and disease diagnosis and analysis module; 61-Depth camera; 7-Spraying mechanism. Detailed Implementation

[0017] This application provides an intelligent spraying robot, such as Figures 1-5 As shown, it includes a chassis walking system, a liftable robotic arm mechanism, a liquid preparation and storage mechanism 4, a liquid delivery and control component 5, a spraying mechanism 7, a pest and disease diagnosis and analysis module 6, and a main control module 3 that communicates with the above-mentioned parts.

[0018] The chassis locomotion system is the core platform for the robot's movement and load-bearing capabilities, with its various structures working together to achieve stable support. Specifically, the chassis locomotion system includes the vehicle body 11 and a wheel-track hybrid locomotion mechanism located on the vehicle body. The vehicle body 11, as the chassis frame, bears the weight of each component and preferably adopts a box-type structure to distribute the weight and avoid deformation caused by localized stress concentration. The wheel-track hybrid locomotion mechanism has advantages such as straight-line movement, left and right turning, crossing ditches and obstacles, and ensuring sufficient stability of the working platform, enabling the robot to move on inclined and muddy roads, meeting the needs of spraying pesticides on peach trees in hilly areas.

[0019] Preferably, the wheel-track composite walking mechanism includes a wheeled walking mechanism and a tracked walking mechanism 13. Under normal road conditions, the tracked walking mechanism's swing arm is raised, and the wheeled walking mechanism is used for walking. When encountering rugged road conditions, the tracked walking mechanism's swing arm is lowered, and the tracked walking mechanism is used for walking.

[0020] More preferably, the wheeled walking mechanism includes four wheels 12 located at the front and rear ends and the left and right sides of the chassis, respectively, and each wheel can be driven independently.

[0021] The wheeled and tracked traveling mechanisms can be implemented using existing technologies, and will not be elaborated upon here.

[0022] More preferably, the wheel 12 is a wide rubber tire, allowing the robot to move on flat terrain. Deep-tread rubber tires are further selected to enhance grip.

[0023] Preferably, the chassis walking system is provided with a gyroscope and a gravity center sensor, and the track walking mechanism can use the gyroscope in combination with the gravity center sensor data to adjust the pose and realize dynamic balance, effectively preventing rollover, so as to pass through complex road conditions.

[0024] Therefore, the use of track walking can increase the ground contact area, reduce the pressure and prevent sinking, so that the robot can stably pass through muddy, steep or soft soil, meeting the terrain requirements of hilly areas.

[0025] Preferably, the chassis walking system is provided with a navigation positioning system to guide the robot to avoid obstacles and walk.

[0026] The liftable mechanical arm mechanism is used to adjust the spraying height, angle and extension range, and includes a vertical moving platform located on the chassis and a multi-degree-of-freedom mechanical arm located on the vertical moving platform; the spraying mechanism 7 is located at the end of the multi-degree-of-freedom mechanical arm; the vertical moving platform can drive the multi-degree-of-freedom mechanical arm and the spraying mechanism to move up and down reciprocally, so as to spray pesticide on peach trees of different heights, improving the adaptability of pesticide spraying operation. The multi-degree-of-freedom mechanical arm provides a multi-degree-of-freedom bionic structure, which can drive the spraying mechanism to move in three-dimensional space, so that the spraying mechanism can extend into the tree canopy for operation, improving the efficiency and accuracy of pesticide spraying.

[0027] Preferably, the vertical moving platform includes a vertical guide rail 21, a sliding block 22 movable along the vertical guide rail, and a first motor driving the sliding block to move up and down reciprocally. The material of the vertical guide rail 21 is preferably high-rigidity aluminum alloy, which provides a rigid guide rail for the mechanical arm in the vertical direction, covering the spraying operation of peach trees of different heights. The lower end base is bolted to the chassis vehicle body 11, and the upper end is provided with a limiting block and a buffer pad to prevent the sliding block from overtraveling. The sliding block 22 is nested with the vertical guide rail 21 to form a slidable pair, which transmits lifting power to the mechanical arm for supporting and guiding the mechanical arm to smoothly slide along the vertical guide rail.

[0028] Preferably, the multi-degree-of-freedom mechanical arm includes a left-right rotating mechanism and an up-down rotating mechanism. The left-right rotating mechanism includes a second motor 25 and a connecting frame 26, the second motor is located on the sliding block 22, the connecting frame 26 is connected with the output end of the second motor 25, and the second motor 25 can drive the connecting frame 26 to rotate left and right. The up-down rotating mechanism includes a plurality of joints connected in sequence end to end, the joint includes a third motor 23 and a joint arm 24 connected with the output end of the third motor, the third motor 23 located at the head joint is located on the connecting frame 26, the third motor 23 located at the next joint is located at the end of the joint arm 24 of the previous joint, and the spraying mechanism 7 and the pest and disease diagnosis and analysis module 6 are located at the end of the joint arm 24 of the end joint; the third motor 23 can drive the corresponding joint arm 24 to rotate up and down, and the plurality of joints jointly act to make the liftable mechanical arm mechanism horizontally extend and retract.

[0029] Therefore, the application adopts a vertical moving platform to realize large-range adjustment of the height of the mechanical arm (the first motor can drive the sliding block and the whole multi-degree-of-freedom mechanical arm to move up and down, so as to realize large-range adjustment of the height of the spraying mechanism at the end of the mechanical arm), adopts a left-right rotating mechanism to realize adjustment of the horizontal left-right direction of the mechanical arm (the second motor can drive the whole joint structure to rotate left and right, so as to realize adjustment of the horizontal left-right direction of the spraying mechanism at the end of the mechanical arm), adopts an up-down rotating mechanism to realize small-range adjustment of the height of the mechanical arm (the third motor drives the joint arm connected thereto to rotate up and down, so as to realize small-range adjustment of the height of the spraying mechanism at the end of the mechanical arm), adjustment of the horizontal extension length (the plurality of third motors jointly act, so as to make the plurality of joint arms open or shrink, so as to realize adjustment of the horizontal length of the spraying mechanism at the end of the mechanical arm), and adjustment of the alignment angle of the end of the mechanical arm (the third motor at the end drives the joint arm at the end to rotate up and down, so as to realize adjustment of the alignment angle of the spraying mechanism at the end of the mechanical arm), so that the spraying height, angle and extension range of the spraying mechanism can be adjusted, the spraying range is expanded, and accurate target spraying can be realized.

[0030] Since the end of the mechanical arm is provided with the spraying mechanism, the spraying mechanism has a certain weight, therefore, the application adopts the vertical moving platform with relatively stable structure to realize large-range adjustment of the height, so that the stability of the whole liftable mechanical arm mechanism can be maintained, and the problem of instability or even overturning of the whole mechanical arm due to the large weight of the end can be prevented.

[0031] The first motor, the second motor and the third motor preferably adopt hollow cup motors, the hollow cup motors have high precision, and can accurately control the vertical direction lifting, the horizontal direction extension and the angle adjustment of the mechanical arm.

[0032] The liquid medicine preparation and storage mechanism 4 is used for preparing and storing at least one liquid medicine.

[0033] Preferably, the liquid medicine preparation and storage mechanism 4 is located on the vehicle body 11, and includes a liquid medicine storage tank and a water supply pipeline.

[0034] The liquid medicine storage tank includes a plurality of original medicine storage cavities 48 and a plurality of preparation cavities 47.

[0035] Each original medicine storage cavity 48 is used for storing different kinds of original medicines; each original medicine storage cavity 48 is connected with a plurality of preparation cavities 47 respectively, each original medicine storage cavity 48 can be connected with one preparation cavity 47 or a plurality of preparation cavities 47; the water inlet end of the water supply pipeline is used for being connected with a water source, and the water outlet end is in communication with each preparation cavity 47.

[0036] The original medicine storage cavity 48 and the water supply pipeline are respectively used for delivering predetermined amounts of original medicines and water into the preparation cavities 47, so as to prepare liquid medicines with predetermined concentrations.

[0037] The raw medicine can be in liquid or solid state. When different forms of raw medicine are used, different conveying pipelines and metering control valves are used between the raw medicine storage cavity 48 and the dispensing cavity 47 (for example, a flow meter and a proportional valve can be used when the raw medicine is in liquid state, and a star-shaped discharge valve can be used when the raw medicine is in solid state) to accurately convey a predetermined amount of raw material.

[0038] Preferably, a water pump 41 is arranged on the water conveying pipeline to provide a power source for conveying clean water.

[0039] A first on-off valve 42 and a flow sensor 43 are arranged on the water conveying pipeline, and a stirring device 45 is arranged in each dispensing cavity. Each dispensing cavity is also provided with a liquid level sensor 44.

[0040] The first on-off valve 42 can control the on-off of clean water, the flow sensor 43 can monitor the conveying flow of clean water and feed back to the main control module to set the water injection time, the liquid level sensor 44 is used to detect the remaining amount of liquid medicine in the dispensing cavity and trigger an alarm when it is lower than the set value, and the stirring device 45 can make the raw medicine and clean water mix uniformly.

[0041] Preferably, the dispensing cavity is also provided with a liquid discharge port 46 for discharging waste liquid in the cavity.

[0042] The liquid medicine dispensing and storage mechanism can be used to dispense the corresponding concentration of spraying liquid according to the degree of on-site pest infestation, thereby improving the spraying effect.

[0043] The liquid medicine conveying control assembly 5 is used to convey the liquid medicine stored in the liquid medicine dispensing and storage mechanism to the spraying mechanism and control the type and amount of liquid medicine output.

[0044] Preferably, the liquid medicine conveying control assembly 5 includes a plurality of conveying units corresponding to the number of dispensing cavities 47, and the spraying mechanism 7 includes a plurality of nozzles corresponding to the number of dispensing cavities 47 for uniform spraying of the medicine.

[0045] Each conveying unit includes a medicine conveying pipeline, the two ends of the medicine conveying pipeline are respectively communicated with the corresponding dispensing cavity and nozzle, and a medicine pump 51, a second on-off valve 52, a proportional valve 53 and a pressure sensor 54 are arranged on the medicine conveying pipeline.

[0046] The medicine pump 51 is preferably a diaphragm pump for conveying liquid medicine. The second on-off valve 52 is preferably an electromagnetic on-off valve located downstream of the diaphragm pump and is used to control the on-off of liquid medicine conveying. The proportional valve 53 is installed on the pipeline downstream of the second on-off valve and is used to adjust the conveying flow of liquid medicine. The pressure sensor 54 is installed on the pipeline downstream of the proportional valve and is used to measure the pressure in the pipeline and feed back to the main control module part to realize closed-loop control.

[0047] The nozzle is preferably an elongated fan-shaped anti-dripping nozzle.

[0048] The pest and disease diagnosis and analysis module 6 is configured to identify the type, degree and location of the plant pests and diseases, and analyze and determine the type and amount of pesticide required for spraying.

[0049] Preferably, the pest and disease diagnosis and analysis module 6 comprises a depth camera 61 located at the end of the multi-degree-of-freedom mechanical arm.

[0050] The depth camera is preferably an RGB-D camera, which has the capabilities of high-resolution imaging, accurate positioning and real-time image processing, and can identify the type, degree and location of the plant pests and diseases, analyze and determine the spraying strategy in real time, accurately measure the local pests and diseases, and achieve accurate target spraying.

[0051] The main control module is configured to control the mutual cooperation of various parts. Specifically, the main control module is configured to control the chassis walking system, the liftable mechanical arm mechanism, the pesticide dispensing and storage mechanism and the pesticide delivery control assembly according to the data of the pest and disease diagnosis and analysis module, so that the spraying mechanism is aligned with the target position of the pests and diseases to spray the pesticide of the corresponding type and amount.

[0052] The main control module 3 preferably comprises a plurality of sub-modules, specifically including an embedded control board 31, a valve driving board 32 and a motor driving board 33. The signals collected by various sensors (flow sensors, liquid level sensors and pressure sensors, etc.) and cameras are converted into electrical signals and transmitted to the embedded control board 31 for analysis and processing by the embedded system to determine the target position of the pests and diseases, the type of pesticide required for spraying, the concentration of the pesticide and the amount of spraying, and then converted into control signals and transmitted to the valve driving board 32 and the motor driving board 33.

[0053] The valve driving board 32 is configured to control the on-off valve and the proportional valve, receive the control signals, and convert these signals into electrical signals suitable for driving the valve actuator to achieve the opening and adjustment of the valves; the motor driving board 33 receives and processes the signals for driving the motor to achieve the running of the chassis, the movement trajectory of the mechanical arm and the stirring device, etc.

[0054] The application also provides a control method of the intelligent pesticide spraying robot as described above, comprising the following steps: S1. The main control module controls the chassis walking system to move the entire robot to the target position; S2. The pest and disease diagnosis and analysis module identifies the type, degree and location of the plant pests and diseases, analyzes and determines the type, concentration and amount of pesticide required for spraying, and then transmits the data to the main control module; S3. The master module sends corresponding instructions to the liftable mechanical arm mechanism, the medicine liquid deployment storage mechanism and the medicine liquid delivery control assembly, so that the liftable mechanical arm mechanism drives the spraying mechanism to move until the spraying mechanism is aligned with the target position of the plant pest, the medicine liquid deployment storage mechanism deploys medicine liquid of corresponding type and concentration, and the medicine liquid delivery control assembly delivers corresponding amount of medicine liquid to the spraying mechanism, so as to realize targeted spraying.

[0055] In a preferred embodiment, there are 3 original medicine storage cavities 48 and 3 deployment cavities 47 respectively connected with the corresponding original medicine storage cavities, and each original medicine storage cavity 48 stores different types of original medicine. The number of spray heads is also 3, which are respectively connected with the corresponding one deployment cavity 47, and different spray heads can spray different medicine liquid.

[0056] Firstly, the robot walks to the first target position, the depth camera collects the image of the peach tree in the field of view, and then analyzes whether spraying is needed. If not, continue to walk forward. If needed, analyze and determine the specific spraying position (determine 3 spraying positions), the type of spraying (determine that the first spraying position is the original medicine in the first original medicine storage cavity, the second spraying position is the original medicine in the second original medicine storage cavity, and the third spraying position is the original medicine in the third original medicine storage cavity), the concentration of spraying and the amount of spraying, and transmit the information to the master module. First, perform targeted spraying at the first spraying position. The master module sends corresponding instructions to the metering control valve connected with the first original medicine storage cavity, the water pump connected with the first deployment cavity, the first on-off valve, the flow sensor, the stirring device, to deliver a predetermined amount of original medicine and water to the first deployment cavity, prepare a predetermined concentration of medicine liquid, and start the stirring device to mix the original medicine and water evenly. At the same time, corresponding instructions are sent to the first motor, the second motor and the third motor to move the sliding block and / or the articulated arm, so that the spray head is aligned with the spraying position. Then, instructions are sent to the medicine pump connected with the first deployment cavity, the second on-off valve, the proportional valve and the pressure sensor to extract the medicine liquid in the first deployment cavity and deliver it to the corresponding spray head, and the spray head sprays evenly to the spraying position. Then, it is transferred to the next spraying position, and the above steps are repeated to spray, until the spraying at the three spraying positions is completed. Then the robot continues to walk and is transferred to the next target position until the spraying operation at all target positions is completed.

[0057] The application has the following advantages: 1. It can adapt to various complex road conditions. The spraying robot can adjust its posture and stably drive on slopes and muddy roads.

[0058] 2. Wide spraying coverage. The mechanical arm can be vertically lifted to meet the spraying needs of peach trees of different heights, and the multi-degree-of-freedom mechanical arm can adjust the spraying angle and extension length to realize precise target spraying.

[0059] 3. Variable efficient pesticide spraying. When spraying pesticide on peach trees, different pesticide, different concentration of pesticide and different amount of pesticide can be selected according to different diseases and pests and different degrees of peach trees, so as to achieve the purpose of variable spraying. Using the robot, the technical problems of large workload and low work efficiency of manual pesticide spraying on peach trees are solved.

[0060] As those skilled in the art can understand, the robot can also be used for intelligent pesticide spraying of other fruit trees, crops and other plants, and can also be used for intelligent pesticide spraying of different terrain environments such as greenhouses, big sheds and fields.

[0061] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all the preferred embodiments and all changes and modifications falling within the scope of the present application. Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An intelligent pesticide spraying robot, characterized in that, The intelligent pesticide spraying robot comprises a chassis walking system, a liftable mechanical arm mechanism, a pesticide liquid preparation and storage mechanism, a pesticide liquid delivery control assembly, a spraying mechanism, a plant disease and pest diagnosis and analysis module, and a main control module in communication connection with the above-mentioned parts. The chassis walking system comprises a vehicle body and a wheel-track combined walking mechanism on the vehicle body. The liftable mechanical arm mechanism comprises a vertical moving platform on the vehicle body and a multi-degree-of-freedom mechanical arm on the vertical moving platform; the spraying mechanism is located at the end of the multi-degree-of-freedom mechanical arm; the vertical moving platform can drive the multi-degree-of-freedom mechanical arm and the spraying mechanism to move up and down reciprocally; the multi-degree-of-freedom mechanical arm can drive the spraying mechanism to move in three-dimensional space. The pesticide liquid preparation and storage mechanism is used for preparing and storing at least one pesticide liquid. The pesticide liquid delivery control assembly is used for delivering the pesticide liquid stored in the pesticide liquid preparation and storage mechanism to the spraying mechanism and controlling the type and amount of the pesticide liquid output. The plant disease and pest diagnosis and analysis module is used for identifying the type, degree and position of plant diseases and pests and analyzing and determining the type, spraying concentration and amount of the pesticide liquid required to be sprayed. The main control module is used for controlling the chassis walking system, the liftable mechanical arm mechanism, the pesticide liquid preparation and storage mechanism and the pesticide liquid delivery control assembly to act according to the data of the plant disease and pest diagnosis and analysis module so that the spraying mechanism sprays the pesticide liquid of the corresponding type, spraying concentration and amount to the target position of plant diseases and pests.

2. The intelligent pesticide spraying robot according to claim 1, wherein The wheel-track combined walking mechanism comprises a wheeled walking mechanism and a tracked walking mechanism; the wheeled walking mechanism is used for walking on ordinary road conditions; and the tracked walking mechanism is used for walking on special bad road conditions.

3. The intelligent pesticide spraying robot according to claim 1, wherein The vertical moving platform comprises a vertical guide rail, a sliding block movable along the vertical guide rail and a first motor driving the sliding block to move up and down reciprocally.

4. The intelligent pesticide spraying robot according to claim 3, wherein The upper end of the vertical guide rail is provided with a limiting stopper and a buffer pad.

5. The intelligent pesticide spraying robot according to claim 3, wherein The multi-degree-of-freedom mechanical arm comprises a left-right rotating mechanism and an up-down rotating mechanism; The left-right rotating mechanism comprises a second motor and a connecting frame; the second motor is located on the sliding block; the connecting frame is connected with the output end of the second motor; and the second motor can drive the connecting frame to rotate left and right; The up-down rotating mechanism comprises a plurality of joints connected in sequence; the joint comprises a third motor and a joint arm connected with the output end of the third motor; the third motor located at the head joint is located on the connecting frame; the third motor located at the rear joint is located at the end of the joint arm of the front joint; the spraying mechanism and the plant disease and pest diagnosis and analysis module are located at the end of the joint arm of the tail joint; and the third motor can drive the corresponding joint arm to rotate up and down.

6. The intelligent pesticide spraying robot according to claim 1, wherein The medicine liquid preparation and storage mechanism is located on the vehicle body and comprises a medicine liquid storage tank and a water supply pipeline; The medicine liquid storage tank comprises a plurality of original medicine storage cavities and a plurality of preparation cavities; Each original medicine storage cavity is used for storing different kinds of original medicine; each original medicine storage cavity is connected with a plurality of preparation cavities; the water inlet end of the water supply pipeline is used for being connected with a water source, and the other end is communicated with each preparation cavity; The original medicine storage cavity and the water supply pipeline are respectively used for delivering a predetermined amount of original medicine and water into the preparation cavity, so as to prepare a medicine liquid with a predetermined concentration.

7. The intelligent medicine spraying robot according to claim 6, characterized in that, The water supply pipeline is provided with a first on-off valve and a flow sensor, and each preparation cavity is provided with a stirring device and a liquid level sensor.

8. The intelligent medicine spraying robot according to claim 6, characterized in that, The medicine liquid delivery control assembly comprises a plurality of delivery units corresponding to the number of preparation cavities, and the spraying mechanism comprises a plurality of nozzles corresponding to the number of preparation cavities; Each delivery unit comprises a medicine delivery pipeline, both ends of the medicine delivery pipeline are respectively communicated with a corresponding preparation cavity and a nozzle, and the medicine delivery pipeline is provided with a medicine pump, a second on-off valve, a proportional valve and a pressure sensor.

9. The intelligent medicine spraying robot according to claim 1, characterized in that, The pest diagnosis and analysis module comprises a depth camera located at the end of the multi-degree-of-freedom mechanical arm.

10. A control method of the intelligent pesticide spraying robot according to any one of claims 1 to 9, characterized in that, The method comprises the following steps: S1. The main control module controls the chassis walking system to drive the whole robot to move to a target position; S2. The pest diagnosis and analysis module identifies the type, degree and position of plant pests and diseases, analyzes and determines the required medicine liquid type, spraying concentration and spraying amount, and transmits the data to the main control module; S3. The main control module sends corresponding instructions to the liftable mechanical arm mechanism, the medicine liquid preparation and storage mechanism and the medicine liquid delivery control assembly, so that the liftable mechanical arm mechanism drives the spraying mechanism to move until the spraying mechanism is aligned with the target position of plant pests and diseases, the medicine liquid preparation and storage mechanism prepares the medicine liquid with corresponding type and concentration, and the medicine liquid delivery control assembly delivers the corresponding amount of medicine liquid to the spraying mechanism, so as to realize targeted spraying.

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